PLC restarting UR3 program after impact

I am currently working on programming a UR3 and have set up communications with an Allen-Bradley PLC via ethernet/ip. I am able to send signals back and forth between the UR and the PLC via int and boolean registers, however, I would like for the PLC to be able to re-intialize the robot after a collision without having to use the teach pendant. Also, is there a way for the PLC to confirm the safety configuration via ethernet/ip as well?